JPS606847B2 - Equipment for taking out items from shelves in automatic hangars - Google Patents

Description

[Detailed description of the invention] The present invention relates to automatic storage of articles.

Accordingly, the conveyor table is moved in a controlled manner along the front surface of the shelves on which the articles are arranged side by side, and the articles are automatically transferred between the desired storage position of the shelf and the conveyor table. 2. Description of the Related Art Automatic hangars that automatically carry out and store articles are known.

By the way, in such an automatic hangar, a device for taking out articles from a shelf onto a conveyor table is provided.

As such devices, hook "electromagnets", vacuum suction heads, "clamping devices, etc." When the device is placed facing the shelf position, it approaches the shelf, holds the corresponding article, then reverses itself and takes out the article onto the conveyor.In this case, these devices If the displacement is only due to reciprocating movement on the conveyor table, there is a drawback that a large force is required to take out the article due to friction between the shelf board and the article, catching between the article and the tip of the conveyor table, etc. In particular, if the item is on a disc, such as magnetic tape (wound on a reel), and is stored upright on a shelf, the disc can be received in the recess of the shelf, so it is easy to take it out. Reciprocating movement of the device in only one direction is enough to remove the
Well, it's impossible. For this reason, it is also possible to make the take-out device capable of reciprocating in the vertical direction so that when taking out the item, the item is grasped, picked up, and then pulled out from the shelf, but in this case, the take-out device The structure and operation control become complicated.

In view of the above, an object of the present invention is to provide a device that has a simple structure and can lift an article from a shelf and then take it out from the shelf onto a conveyor table under the same control as the conventional control.

The present invention provides an arm with a tapered surface at the tip so as to work in conjunction with a holding device that holds an article on a shelf and pulls it out onto a conveyor table, and when the holding device approaches the article, the article enters between the shelf boards. In this state, the article is held by the holding device.

In this way, the article can be picked up and pulled out simply by providing an arm with a tapered surface, which is particularly convenient for taking out circular articles such as magnetic tape.

Hereinafter, the present invention will be explained in detail with reference to embodiments shown in the drawings.

FIG. 1 is a schematic top view for explaining the outline of an automatic hangar using the retrieval device of the present invention, and with reference to the same figure,
The automatic hangar includes a storage shelf 1 for storing articles, a transport platform 2 that moves along the front surface of the storage shelf 1, and an article retrieval device located on the transportation platform 2 for transferring articles between the storage shelf 1 and the transportation platform 2. 3, which automatically transports articles from any storage position on the storage shelf 1 to the article handling port 4 and automatically transfers the articles from the article handling port 4 to a desired storage position on the storage shelf 1. It is something.

The article retrieval device 3 generally consists of one device, and one reciprocating movement of the device pulls out the article onto a conveyor table or pushes it onto a shelf.

As such a device, one in which a hook, an electromagnet, a vacuum suction head, and an article holding device are attached to a reciprocating body is known. Various control systems for controlling a series of operations such as stopping the movement of the conveyance platform and stopping the movement of the article delivery device are also known, so their explanations will be omitted here. As mentioned above, conventional article retrieval devices require sufficient force to overcome the friction between the article and the shelf, especially when disc-shaped articles such as magnetic tape are stored upright on the shelf. In this case, in view of the fact that the article cannot be pulled out from the shelf by mere reciprocating movement of the take-out device, the present invention has been developed to "hold the article after lifting the article and pull the article from the shelf onto the conveyance table without complicating the structure." The purpose of the present invention is to provide a take-out device that can obtain the desired results.

FIG. 2 is an external perspective view of a transport platform equipped with the take-out device of the present invention. It is shown as being equipped with a cliff body for storing items to prevent them from colliding with external objects or falling.

Referring to FIG. 2, the conveyance table 2 is composed of an L-shaped table, and as is well known, it is installed on a movable column that is controlled to move in the horizontal direction, so that it can be moved in a controlled manner up and down. and is thus movable along the front of the shelf.

An arm 23 is provided on the vertical part 21 of the conveyance table 2 so as to project above the horizontal part 22, and between this arm 23 and the horizontal part 22, a lotus body 24 is rotatable in the horizontal plane. is supported by

In FIG. 2, a pivot pin 25 for attachment to arm 23 is shown. The weight body 24 defines a chamber that is open at one end, and this chamber provides a chamber for accommodating articles, and the articles are taken in and out through the opening □241.

The article retrieval device may be of any of the above-mentioned types, as long as it is provided so that the article can be taken in and out through the sekiguchi 241, but in this embodiment, vacuum suction is used, as will be explained in detail with reference to FIG. A mechanical body including a suction head is provided inside the sparrow body 24 so as to be movable between the entrance 241 and the opposite end thereof. In FIG. 2, the suction head structure is indicated by point Z line 3. In addition, in this embodiment, as an article, for example, magnetic tape (wound on a reel) 10
It is shown as.

According to this structure, the conveyor table 2 is positioned at the desired accommodation Z position on the shelf, the suction head assembly 3 comes out of the opening 241 to suction the article on the shelf, and is reversely moved and placed inside the pupil body 24. By returning to the depths, the article 10 is accommodated in the weight body 24.

When discharging the articles stored in the body 24 to the handling port (FIG. 1, 4), the suction head assembly 3 suctions the articles 10 to the outside of the opening □241. When the article is pushed out and moved to the shelf or the handling opening, the suction force is released, and then the article is reversed and returned to the depths of the weight body 24.

Thus, when the article 2 is on the conveyor table, the body 24
Since it is housed inside and protected from the outside, there is no risk of collision from contact with external objects, and the risk of falling from the carrier is reduced. As will be described later, if an article gripping device is employed inside the body, the risk of falling can be further eliminated.In this embodiment, the weight body 24 is rotatable, and Since the delivery device is provided inside the weight body 24, articles can be taken in and out from various directions by rotating the body and changing the direction of the entrance 241. (Figure 1 4
) has the advantage of flexibility in placement.

FIG. 3 is a perspective view with main parts cut away to show the internal structure of the link body 24. Referring to the figure, the suction head structure 3 is shown inside the weight body between the Sekiguchi end and the opposite end. It has a slider block 31 that is movably installed, a suction head 32 that is installed on the slider block, and a tapered arm 315 that projects forward from the suction head and has a bouper surface at its tip.

The slider block 31 is a slider block inside the pupil. It is movably installed on a guide rod 33 that is installed to extend in the moving direction of the hook, and its movement is thereby guided. In addition, both ends of the guide birch are fixed to the wall of the oath body, but in the figure, L
Since the weight body wall is shown broken, the fixing structure is omitted. Further, the slider block 31 is connected to a chain 34, and the chain 34 is connected to a pulley 35 attached to the inner wall of the sparrow body 24 on the entrance side and on the opposite side, respectively.
, 35 ", the motor 36 installed on the weight body 24
It meshes with a gear 37 driven by.

As a result, the rotation of the motor 36 moves the suction head structure back and forth. 38 and 38 are tension rollers that absorb slack in the chain. They are equipped with a slider block 311 and an arm 311 to which a suction head 32 is attached, and this arm can rotate slightly in the vertical plane. As shown in the figure, the suction head 32 is attached to the front end of the suction head.
A suction pipe 313 leading to this suction head 32 is connected to the arm 31.
1 and is connected to a pump (not shown).

5 Furthermore, in front of the "Nagiri arm block 31', there is a taper arm 315 that extends past the suction head 32 and its support arm 311, and the tip thereof has a downwardly inclined surface. is formed.

As shown in the figure, when the suction head assembly 3 is closest to the open weight body □ side, the tip of the tapered arm 315 enters into the shelf, goes under the article, and picks up the article. It has become. The article (Fig. 2, item 10) is placed in front of the upper end of the arm 311 by the suction head 3.
2, the tapered arm 315 receives a part of the wall of the object to ensure stable support of the object.
It has a support pad 314 to prevent the article from jumping up when it is lifted.

40 Note that the arm 311 has article guide plates 316, which protrude forward on both sides of the mounting portion of the suction head 32.
316'.

The coating body 24 is further provided with an article gripping device for firmly holding the article accommodated in the sparrow body 24.

That is, the frames 242 provided on both sides of the article storage space of the crashed object 24? Lever 243 pivotally supported on 242'
9 243'. Pads 2449 and 244' are provided at one end of each lever, and the lever is tension-biased by a spring 246 and base 45 so that both pads 244 and 244' approach each other and the article is held between them. The solenoid 24 is located deep inside the weight body 24.
6 is provided on the inner wall and connected to the plunger 2
47, 247' are connected to levers 243, 243', respectively.

Village 247, 24? The connection part with the control bar 243; 243' is the arm part of the lever 2439 243' that is closer to the spring connection end than the shaft attachment part, and when the solenoid 246 is energized,
The pads 244, 244f of the levers 243, 243' are separated from each other against the urging force of the springs 245, 245'. As a result, when the article is stored or pushed out, the solenoid 246 is energized to allow movement of the third slider block and the article; otherwise, the solenoid 246 is energized. The pads 244, 244' are connected to the spring 2459.
245', they are urged toward each other. Therefore, when an article is stored, the article is held firmly. FIG. 4 is a sectional view showing the relationship between the suction head structure and the shelf. Referring to FIG.
? , 317', the suction head 32 functions to absorb the impact caused by the rotating movement when suctioning the article.

Further, a portion 318 of the support shaft 312 that holds the support arm is installed so as to be elastically displaceable by a certain distance in a direction away from the shelf with respect to the main body portion of the sliding pad block 3 tortoise. That is, the portion 318 is installed so as to be able to slide on the main body portion, and is positioned by the elastic body 319 at the front limit where it can slide. In this way, it is possible to absorb the shock when the suction head structure moves forward and comes into contact with the article, and also to take into account the distance error between the conveyance table and the shelf, and to prevent the suction head structure from protruding toward the shelf side. By making the position relatively large, this error can be absorbed.Now, the taper arm 315 is connected to the slider block 3.
With 1! This moves forward and enters between the article 18 and the shelf board.

As a result, the tapered surface of the tapered arm guides the article and lifts the article, and the article is attracted to the suction head 32. The operation during this period is automatically performed simply by moving the suction head structure toward the shelf.
Since special operations are not required, special enhancement of the article can be achieved with a simple structure and operation. The specially selected article is supported on both sides by guide plates 3, 6 and 316' to prevent it from falling over and is held by suction by the suction force of the suction head.

Thereafter, when the suction head assembly is reversed in the same manner as in the known art, the article is pulled out onto the conveyor table.

At this time, the item is held in a raised position, so it can be pulled out smoothly without friction from shelf boards, etc., and since it is supported from below by a tapered arm, there is no need to make the suction force particularly strong. In addition, collisions with the tip of the conveyor table are also eliminated.In addition, in the above embodiment, the tapered surface formed at the tip of the arm was used to raise the quality of the product. A similar effect can be obtained by using a device equipped with the above.

As is clear from the above embodiments, according to the present invention, with a simple structure and conventional control operations, it is possible to pick up an article, hold it, and then take it out in that state. Since it is possible to obtain a device for taking out articles onto a conveyor table, it is possible to easily overcome the drawbacks of the above-mentioned secondary structure.

[Brief explanation of the drawing]

Fig. 1 is a schematic configuration diagram for explaining the general operation of an automatic hangar using an article evacuation device according to the present invention, Fig. 2 is an external perspective view of an embodiment of the present invention, and Fig. 3 is an internal perspective view. Partially cutaway perspective view of the back to explain the structure ``Figure 4 is a cross-sectional view showing the relationship with the shelves. Suction head structure) ``Triangular side... Slider block `` 32...
... Suction head, 311 ... Supporting arm "312
...Support shaft 3 teams 4...Support pad, 3 colors 5...
Boopa arm "316, 386'... Information plate, 317,
317f...Elastic pad "3 vines 9...Elastic body. Figure 1 - Figure 2 Figure 4 Ship

Claims (1)

[Claims] 1. An article transport table is provided movably along the front surface of the article storage shelf, and a device for taking out articles from the shelf is provided on the conveyor table to automatically take out articles from the shelf. In the automatic hangar, the article retrieval device includes an article gripping means for grasping the article on the shelf and pulling it onto the conveyor table, and a means for contacting the article with the shelf board when the conveyor table faces the article storage position of the shelf. an arm provided with an article lifting guide means at the distal end, the arm being slidably installed in the direction of the shelf on the conveyor table so that the distal end is disposed at the same level as the surface; and a driving means for reciprocating the arm. When removing items from the shelf,
An apparatus for taking out articles from a shelf in an automatic hangar, characterized in that an article lifting guide means at the tip of the arm enters between the article and the shelf board to lift the article and facilitate taking out the article. 2. In the take-out device according to claim 1,
The article gripping means comprises a slider block installed on the conveyance table so as to be slidable in a direction approaching the shelf, a drive means for reciprocating the slider block, and a drive means installed on the slider block. and a vacuum suction head, wherein the slider block and the arm move together. 3. In the take-out device according to claim 2, the article holding pad is moved by the slider so as to prevent the article from jumping up when the tip of the arm enters between the article and the shelf board and lifts the article. It is characterized by being provided on the moving block. 4. The take-out device according to claim 2 or 3, characterized in that guide plates for guiding articles are provided on both sides of the vacuum suction head. 5. In the take-out device according to claim 2, 3, or 4, a support for attaching a vacuum suction head is axially supported on the slider block, and the vacuum suction head is attached to the support. It is characterized by being able to rotate so that it can fit the surface of the article. 6. In the take-out device according to claim 5, the slider block is provided with an elastic body that limits the rotation of the support body around the support shaft to a certain angle and absorbs the impact during the rotation movement. being given. 7. In the take-out device according to claim 5 or 6, the vacuum suction head mounting support is elastically displaceable with respect to the slider block in a direction opposite to the shelf direction. It is characterized in that it is installed so that the impact when the suction head comes into contact with the article is absorbed.